SF_GetParam$ Function
Returns text information on the safety function parameters.
Syntax
SF_GetParam$ (index)
Parameters
- index
- Specify the index of the information to be retrieved as an integer or constant.
Return Values
A string value containing the specified information.
Description
Returns the specified safety function parameter values.
| Index | Constant | Description |
|---|---|---|
| 1 | SF_TOOLVERSION | Version of setting tool |
| 2 | SF_CHECKSUM | Safety function parameter checksum |
| 3 | SF_LAST_MODIFIED | Last modified date of safety function parameter |
| 4 | SF_ROBOT_MODEL_NAME | Manipulator name |
| 5 | SF_ROBOT_CHECKSUM | Robot parameters checksum |
| 6 | SF_HOFS | Encoder offset (Hofs) for origin of actual robot |
| 7 | SF_HOFS_LAST_MODIFIED | Last modified date of Hofs |
This command can be used with the Controllers with Safety Board.
SF_GetParam$ Function Example
String Checksum$
Checksum$ = SF_GetParam$(SF_CHECKSUM)
Print "Safety function parameter Checksum is ", Checksum$
> Print SF_GetParam$(SF_LAST_MODIFIED)
2022/01/01 00:00:00